Surgical instrument with modular motor

ABSTRACT

An apparatus for operating on tissue comprises a handpiece, an elongate shaft, an end effector, a firing beam, and a modular motor. The end effector has a pair of jaws configured to open and close upon tissue. The firing beam comprises a blade insert with a sharp edge operable to sever tissue captured within the end effector. The modular motor is insertable into the handpiece. The modular motor comprises a drive gear that engages a plurality of components disposed within the handpiece. Rotation of the drive gear drives longitudinal translation of the firing beam within the elongate shaft. Longitudinal translation of the firing beam opens and closes the jaws of the end effector relative to tissue. Longitudinal translation of the firing beam also severs tissue captured between closed jaws of the end effector.

BACKGROUND

A variety of surgical instruments include a tissue cutting element andone or more elements that transmit radio frequency (RF) energy to tissue(e.g., to coagulate or seal the tissue). An example of such anelectrosurgical instrument is the ENSEAL® Tissue Sealing Device byEthicon Endo-Surgery, Inc., of Cincinnati, Ohio. Further examples ofsuch devices and related concepts are disclosed in U.S. Pat. No.6,500,176 entitled “Electrosurgical Systems and Techniques for SealingTissue,” issued Dec. 31, 2002, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,112,201 entitled “ElectrosurgicalInstrument and Method of Use,” issued Sep. 26, 2006, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,125,409,entitled “Electrosurgical Working End for Controlled Energy Delivery,”issued Oct. 24, 2006, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,169,146 entitled “ElectrosurgicalProbe and Method of Use,” issued Jan. 30, 2007, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 7,186,253, entitled“Electrosurgical Jaw Structure for Controlled Energy Delivery,” issuedMar. 6, 2007, the disclosure of which is incorporated by referenceherein; U.S. Pat. No. 7,189,233, entitled “Electrosurgical Instrument,”issued Mar. 13, 2007, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,220,951, entitled “Surgical SealingSurfaces and Methods of Use,” issued May 22, 2007, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,309,849,entitled “Polymer Compositions Exhibiting a PTC Property and Methods ofFabrication,” issued Dec. 18, 2007, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 7,311,709, entitled“Electrosurgical Instrument and Method of Use,” issued Dec. 25, 2007,the disclosure of which is incorporated by reference herein; U.S. Pat.No. 7,354,440, entitled “Electrosurgical Instrument and Method of Use,”issued Apr. 8, 2008, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,381,209, entitled “ElectrosurgicalInstrument,” issued Jun. 3, 2008, the disclosure of which isincorporated by reference herein.

Additional examples of electrosurgical cutting instruments and relatedconcepts are disclosed in U.S. Pub. No. 2011/0087218, entitled “SurgicalInstrument Comprising First and Second Drive Systems Actuatable by aCommon Trigger Mechanism,” published Apr. 14, 2011, and issued Jan. 1,2015 as U.S. Pat. No. 8,939,974, the disclosure of which is incorporatedby reference herein; U.S. Pub. No. 2012/0083783, entitled “SurgicalInstrument with Jaw Member,” published Apr. 5, 2012, and issued Nov. 18,2014 as U.S. Pat. No. 8,888,809,the disclosure of which is incorporatedby reference herein; U.S. Pub. No. 2012/0116379, entitled “Motor DrivenElectrosurgical Device with Mechanical and Electrical Feedback,”published May 10, 2012, and issued Oct. 20, 2015 as U.S. Pat. No.9,161,803, the disclosure of which is incorporated by reference herein;U.S. Pub. No. 2012/0078243, entitled “Control Features for ArticulatingSurgical Device,” published Mar. 29, 2012, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0078247, entitled“Articulation Joint Features for Articulating Surgical Device,”published Mar. 29, 2012, and issued Aug. 2, 2016 as U.S. Pat. No.9,402,682, the disclosure of which is incorporated by reference herein;U.S. Pub. No. 2013/0030428, entitled “Surgical Instrument withMulti-Phase Trigger Bias,” published Jan. 31, 2013, and issued Jul. 28,2015 as U.S. Pat. No. 9,089,327, the disclosure of which is incorporatedby reference herein; and U.S. Pub. No. 2013/0023868, entitled“SurgicalInstrument with Contained Dual Helix Actuator Assembly,” published Jan.31, 2013, the disclosure of which is incorporated by reference herein.

While a variety of surgical instruments have been made and used, it isbelieved that no one prior to the inventors has made or used theinvention described in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims which particularly pointout and distinctly claim this technology, it is believed this technologywill be better understood from the following description of certainexamples taken in conjunction with the accompanying drawings, in whichlike reference numerals identify the same elements and in which:

FIG. 1 depicts a side elevational view of an exemplary electrosurgicalmedical instrument;

FIG. 2 depicts a perspective view of the end effector of the instrumentof FIG. 1, in an open configuration;

FIG. 3 depicts another perspective view of the end effector of theinstrument of FIG. 1, in an open configuration;

FIG. 4 depicts a cross-sectional end view of the end effector of FIG. 2,taken along line 4-4 of FIG. 3, in a closed configuration and with theblade in a distal position;

FIG. 5 depicts a partial perspective view of the distal end of anexemplary alternative firing beam suitable for incorporation in theinstrument of FIG. 1;

FIG. 6 depicts a side elevational view of an exemplary variation of theinstrument of FIG. 1, with a first portion of a body of the instrumentremoved and an exemplary modular motor in a first position;

FIG. 7 depicts a side elevational view of the instrument of FIG. 6 withthe first portion of the body of the instrument removed and the modularmotor in a second position;

FIG. 8 depicts a perspective view of the instrument of FIG. 6 with thefirst portion of the body of the instrument removed and the modularmotor in the second position;

FIG. 9 depicts a perspective view of the modular motor of FIG. 6;

FIG. 10 depicts a detailed perspective view of the modular motor of FIG.6;

FIG. 11 depicts a perspective view of a plurality of components of theinstrument of FIG. 6 engaged with the modular motor, with an endeffector of the instrument in an open position; and

FIG. 12 depicts a perspective view of a plurality of components of theinstrument of FIG. 6 engaged with the modular motor, with the endeffector in a closed position.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the technology may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presenttechnology, and together with the description serve to explain theprinciples of the technology; it being understood, however, that thistechnology is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the technology shouldnot be used to limit its scope. Other examples, features, aspects,embodiments, and advantages of the technology will become apparent tothose skilled in the art from the following description, which is by wayof illustration, one of the best modes contemplated for carrying out thetechnology. As will be realized, the technology described herein iscapable of other different and obvious aspects, all without departingfrom the technology. Accordingly, the drawings and descriptions shouldbe regarded as illustrative in nature and not restrictive.

It is further understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Thefollowing-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

For clarity of disclosure, the terms “proximal” and “distal” are definedherein relative to a surgeon or other operator grasping a surgicalinstrument having a distal surgical end effector. The term “proximal”refers the position of an element closer to the surgeon or otheroperator and the term “distal” refers to the position of an elementcloser to the surgical end effector of the surgical instrument andfurther away from the surgeon or other operator.

I. Exemplary Electrosurgical Device with Articulation Feature

FIGS. 1-4 show an exemplary electrosurgical instrument (10) that isconstructed and operable in accordance with at least some of theteachings of U.S. Pat. Nos. 6,500,176; 7,112,201; 7,125,409; 7,169,146;7,186,253; 7,189,233; 7,220,951; 7,309,849; 7,311,709; 7,354,440;7,381,209; U.S. Pub. No. 2011/0087218, issued Jan. 27, 2015 as U.S. Pat.No. 8,939,974; U.S. Pub. No. 2012/0083783, issued U.S. Pub. No.8,888,809; U.S. Pub. No. 2012/0116379, issued Oct. 20, 2015 as U.S. Pat.No. 9,161,803; U.S. Pub. No. 2012/0078243; U.S. Pub. No. 2012/0078247,issued Aug. 2, 2016 as U.S. Pat. No. 9,402,682; U.S. Pub. No.2013/0030428, issued Jul. 28, 2015 as U.S. Pat. No. 9,089,327; and/orU.S. Pub. No. 2013/0023868. As described therein and as will bedescribed in greater detail below, electrosurgical instrument (10) isoperable to cut tissue and seal or weld tissue (e.g., a blood vessel,etc.) substantially simultaneously. In other words, electrosurgicalinstrument (10) operates similar to an endocutter type of stapler,except that electrosurgical instrument (10) provides tissue weldingthrough application of bipolar RF energy instead of providing lines ofstaples to join tissue. It should also be understood thatelectrosurgical instrument (10) may have various structural andfunctional similarities with the ENSEAL® Tissue Sealing Device byEthicon Endo-Surgery, Inc., of Cincinnati, Ohio. Furthermore,electrosurgical instrument(10) may have various structural andfunctional similarities with the devices taught in any of the otherreferences that are cited and incorporated by reference herein. To theextent that there is some degree of overlap between the teachings of thereferences cited herein, the ENSEAL® Tissue Sealing Device by EthiconEndo-Surgery, Inc., of Cincinnati, Ohio, and the following teachingsrelating to electrosurgical instrument (10), there is no intent for anyof the description herein to be presumed as admitted prior art. Severalteachings below will in fact go beyond the scope of the teachings of thereferences cited herein and the ENSEAL® Tissue Sealing Device by EthiconEndo-Surgery, Inc., of Cincinnati, Ohio.

A. Exemplary Handpiece and Shaft

Electrosurgical instrument (10) of the present example includes ahandpiece (20), a shaft (30) extending distally from handpiece (20), andan end effector (40) disposed at a distal end of shaft (30). Handpiece(20) of the present example includes a pistol grip (22), a pivotingtrigger (24), an activation button (26), and an articulation control(28). Trigger (24) is pivotable toward and away from pistol grip (22) toselectively actuate end effector (40) as will be described in greaterdetail below. Activation button (26) is operable to selectively activateRF circuitry that is in communication with end effector (40), as willalso be described in greater detail below. In some versions, activationbutton (26) also serves as a mechanical lockout against trigger (24),such that trigger (24) cannot be fully actuated unless button (26) isbeing pressed simultaneously. Examples of how such a lockout may beprovided are disclosed in one or more of the references cited herein. Inaddition or in the alternative, trigger (24) may serve as an electricaland/or mechanical lockout against button (26), such that button (26)cannot be effectively activated unless trigger (24) is being squeezedsimultaneously. It should be understood that pistol grip (22), trigger(24), and button (26) may be modified, substituted, supplemented, etc.in any suitable way, and that the descriptions of such components hereinare merely illustrative.

Shaft (30) of the present example includes a rigid outer sheath (32) andan articulation section (36). Articulation section (36) is operable toselectively laterally deflect end effector (40) at various anglesrelative to the longitudinal axis defined by sheath (32). In someversions, articulation section (36) and/or some other portion of outersheath (32) includes a flexible outer sheath (e.g., a heat shrink tube,etc.) disposed about its exterior. Articulation section (36) of shaft(30) may take a variety of forms. By way of example only, articulationsection (36) may be configured in accordance with one or more teachingsof U.S. Pub. No. 2012/0078247, issued Aug. 2, 2016 as U.S. Pat. No.9,402,682, the disclosure of which is incorporated by reference herein.As another merely illustrative example, articulation section (36) may beconfigured in accordance with one or more teachings of U.S. Pub. No.2012/0078248, entitled “Articulation Joint Features for ArticulatingSurgical Device,” published Mar. 29, 2012, issued Dec. 29, 2016 as U.S.Pat. No. 9,220,559, the disclosure of which is incorporated by referenceherein. Various other suitable forms that articulation section (36) maytake will be apparent to those of ordinary skill in the art in view ofthe teachings herein. It should also be understood that some versions ofinstrument (10) may simply lack articulation section (36).

In some versions, shaft (30) is also rotatable about the longitudinalaxis defined by sheath (32), relative to handpiece (20), via a knob(34). Such rotation may provide rotation of end effector (40) and shaft(30) unitarily. In some other versions, knob (34) is operable to rotateend effector (40) without rotating articulation section (36) or anyportion of shaft (30) that is proximal of articulation section (36). Asanother merely illustrative example, electrosurgical instrument (10) mayinclude one rotation control that provides rotatability of shaft (30)and end effector (40) as a single unit; and another rotation controlthat provides rotatability of end effector (40) without rotatingarticulation section (36) or any portion of shaft (30) that is proximalof articulation section (36). Other suitable rotation schemes will beapparent to those of ordinary skill in the art in view of the teachingsherein. Of course, rotatable features may simply be omitted if desired.

Articulation control (28) of the present example is operable toselectively control articulation section (36) of shaft (30), to therebyselectively laterally deflect end effector (40) at various anglesrelative to the longitudinal axis defined by shaft (30). Whilearticulation control (28) is in the form of a rotary dial in the presentexample, it should be understood that articulation control (28) may takenumerous other forms. By way of example only, some merely illustrativeforms that articulation control (28) and other components of handpiece(20) may take are disclosed in U.S. Pub. No. 2012/0078243, thedisclosure of which is incorporated by reference herein; in U.S. Pub.No. 2012/0078244, entitled “Control Features for Articulating SurgicalDevice,” published Mar. 29, 2012, the disclosure of which isincorporated by reference herein; and in U.S. Pub. No. 2013/0023868, thedisclosure of which is incorporated by reference herein. Still othersuitable forms that articulation control (28) may take will be apparentto those of ordinary skill in the art in view of the teachings herein.It should also be understood that some versions of instrument (10) maysimply lack an articulation control (28).

B. Exemplary End Effector

End effector (40) of the present example comprises a first jaw (42) anda second jaw (44). In the present example, first jaw (42) issubstantially fixed relative to shaft (30); while second jaw (44) pivotsrelative to shaft (30), toward and away from first jaw (42). Use of theterm “pivot” should not be read as necessarily requiring pivotalmovement about a fixed axis. In some versions, second jaw (44) pivotsabout an axis that is defined by a pin (or similar feature) that slidesalong an elongate slot or channel as second jaw (44) moves toward firstjaw (42). In such versions, the pivot axis translates along the pathdefined by the slot or channel while second jaw (44) simultaneouslypivots about that axis. It should be understood that suchsliding/translating pivotal movement is encompassed within terms such as“pivot,” “pivots,” “pivotal,” “pivotable,” “pivoting,” and the like. Ofcourse, some versions may provide pivotal movement of second jaw (44)about an axis that remains fixed and does not translate within a slot orchannel, etc.

In some versions, actuators such as rods or cables, etc., may extendthrough sheath (32) and be joined with second jaw (44) at a pivotalcoupling (43), such that longitudinal movement of the actuatorrods/cables/etc. through shaft (30) provides pivoting of second jaw (44)relative to shaft (30) and relative to first jaw (42). Of course, jaws(42, 44) may instead have any other suitable kind of movement and may beactuated in any other suitable fashion. By way of example only, and aswill be described in greater detail below, jaws (42, 44) may be actuatedand thus closed by longitudinal translation of a firing beam (60), suchthat actuator rods/cables/etc. may simply be eliminated in someversions.

As best seen in FIGS. 2-4, first jaw (42) defines a longitudinallyextending elongate slot (46); while second jaw (44) also defines alongitudinally extending elongate slot (48). In addition, the top sideof first jaw (42) presents a first electrode surface (50); while theunderside of second jaw (44) presents a second electrode surface (52).Electrode surfaces (50, 52) are in communication with an electricalsource (80) via one or more conductors (not shown) that extend along thelength of shaft (30). These conductors are coupled with electricalsource (80) and a controller (82) via a cable (84), which extendsproximally from handpiece (20). Electrical source (80) is operable todeliver RF energy to first electrode surface (50) at an active polaritywhile second electrode surface (52) serves as a reference/return passiveelectrode, such that RF current flows between electrode surfaces (50,52) and thereby through tissue captured between jaws (42, 44). There areinstances where the active signal crosses zero potential that thereference is at the same potential so there is no current flow. In someversions, firing beam (60) serves as an electrical conductor thatcooperates with electrode surfaces (50, 52) (e.g., as a ground return)for delivery of bipolar RF energy captured between jaws (42, 44).Electrical source (80) may be external to electrosurgical instrument(10) or may be integral with electrosurgical instrument (10) (e.g., inhandpiece (20), etc.), as described in one or more references citedherein or otherwise. A controller (82) regulates delivery of power fromelectrical source (80) to electrode surfaces (50, 52). Controller (82)may also be external to electrosurgical instrument (10) or may beintegral with electrosurgical instrument (10) (e.g., in handpiece (20),etc.), as described in one or more references cited herein or otherwise.It should also be understood that electrode surfaces (50, 52) may beprovided in a variety of alternative locations, configurations, andrelationships.

By way of example only, power source (80) and/or controller (82) may beconfigured in accordance with at least some of the teachings of U.S.Provisional Pat. App. No. 61/550,768, entitled “Medical Instrument,”filed Oct. 24, 2011, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2011/0082486, entitled “Devices andTechniques for Cutting and Coagulating Tissue,” published Apr. 7, 2011,issued Jul. 28, 2015 as U.S. Pat. No. 9,089,360, the disclosure of whichis incorporated by reference herein; U.S. Pub. No. 2011/0087212,entitled “Surgical Generator for Ultrasonic and ElectrosurgicalDevices,” published Apr. 14, 2011, issued Mar. 24, 2015 as U.S. Pat. No.8,986,302, the disclosure of which is incorporated by reference herein;U.S. Pub. No. 2011/0087213, entitled “Surgical Generator for Ultrasonicand Electrosurgical Devices,” published Apr. 14, 2011, issued Feb. 10,2015 as U.S. Pat. No. 8,951,248, the disclosure of which is incorporatedby reference herein; U.S. Pub. No. 2011/0087214, entitled “SurgicalGenerator for Ultrasonic and Electrosurgical Devices,” published Apr.14, 2011, issued May 26, 2015 as U.S. Pat. No. 9,039,695, the disclosureof which is incorporated by reference herein; U.S. Pub. No.2011/0087215, entitled “Surgical Generator for Ultrasonic andElectrosurgical Devices,” published Apr. 14, 2011, issued Jun. 9, 2015as U.S. Pat. No. 9,050,093, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2011/0087216, entitled “SurgicalGenerator for Ultrasonic and Electrosurgical Devices,” published Apr.14, 2011, issued Feb. 17, 2015 as U.S. Pat. No. 8,956,349, thedisclosure of which is incorporated by reference herein; and/or U.S.Pub. No. 2011/0087217, entitled “Surgical Generator for Ultrasonic andElectrosurgical Devices,” published Apr. 14, 2011, issued Jun. 23, 2015as U.S. Pat. No. 9,060,776, the disclosure of which is incorporated byreference herein. Other suitable configurations for power source (80)and controller (82) will be apparent to those of ordinary skill in theart in view of the teachings herein.

As best seen in FIG. 4, the lower side of first jaw (42) includes alongitudinally extending recess (58) adjacent to slot (46); while theupper side of second jaw (44) includes a longitudinally extending recess(59) adjacent to slot (48). FIG. 2 shows the upper side of first jaw(42) including a plurality of teeth serrations (55). It should beunderstood that the lower side of second jaw (44) may includecomplementary serrations that nest with serrations (55), to enhancegripping of tissue captured between jaws (42, 44) without necessarilytearing the tissue. In other words, it should be understood thatserrations may be generally blunt or otherwise atraumatic. FIG. 3 showsan example of serrations (56) in first jaw (42) as mainly recesses; withserrations (54) in second jaw (44) as mainly protrusions. Of course,serrations (54, 56) may take any other suitable form or may be simplyomitted altogether. It should also be understood that serrations (54,56) may be formed of an electrically non-conductive, or insulative,material, such as plastic, glass, and/or ceramic, for example, and mayinclude a treatment such as polytetrafluoroethylene, a lubricant, orsome other treatment to substantially prevent tissue from getting stuckto jaws (42, 44). In some versions, serrations (54, 56) are electricallyconductive.

With jaws (42, 44) in a closed position, shaft (30) and end effector(40) are sized and configured to fit through trocars having variousinner diameters, such that electrosurgical instrument (10) is usable inminimally invasive surgery, though of course electrosurgical instrument(10) could also be used in open procedures if desired. By way of exampleonly, with jaws (42, 44) in a closed position, shaft (30) and endeffector (40) may present an outer diameter of approximately 5 mm.Alternatively, shaft (30) and end effector (40) may present any othersuitable outer diameter (e.g., between approximately 2 mm andapproximately 20 mm, etc.).

As another merely illustrative variation, either jaw (42, 44) or both ofjaws (42, 44) may include at least one port, passageway, conduit, and/orother feature that is operable to draw steam, smoke, and/or othergases/vapors/etc. from the surgical site. Such a feature may be incommunication with a source of suction, such as an external source or asource within handpiece (20), etc. In addition, end effector (40) mayinclude one or more tissue cooling features (not shown) that reduce thedegree or extent of thermal spread caused by end effector (40) onadjacent tissue when electrode surfaces (50, 52) are activated. Varioussuitable forms that such cooling features may take will be apparent tothose of ordinary skill in the art in view of the teachings herein.

In some versions, end effector (40) includes one or more sensors (notshown) that are configured to sense a variety of parameters at endeffector (40), including but not limited to temperature of adjacenttissue, electrical resistance or impedance of adjacent tissue, voltageacross adjacent tissue, forces exerted on jaws (42, 44) by adjacenttissue, etc. By way of example only, end effector (40) may include oneor more positive temperature coefficient (PTC) thermistor bodies (55,57) (e.g., PTC polymer, etc.), located adjacent to electrodes (50, 52)and/or elsewhere. Data from sensors may be communicated to controller(82). Controller (82) may process such data in a variety of ways. By wayof example only, controller (82) may modulate or otherwise change the RFenergy being delivered to electrode surfaces (50, 52), based at least inpart on data acquired from one or more sensors at end effector (40). Inaddition or in the alternative, controller (82) may alert the user toone or more conditions via an audio and/or visual feedback device (e.g.,speaker, lights, display screen, etc.), based at least in part on dataacquired from one or more sensors at end effector (40). It should alsobe understood that some kinds of sensors need not necessarily be incommunication with controller (82), and may simply provide a purelylocalized effect at end effector (40). For instance, a PTC thermistorbodies (55, 57) at end effector (40) may automatically reduce the energydelivery at electrode surfaces (50, 52) as the temperature of the tissueand/or end effector (40) increases, thereby reducing the likelihood ofoverheating. In some such versions, a PTC thermistor element is inseries with power source (80) and electrode surface (50, 52); and thePTC thermistor provides an increased impedance (reducing flow ofcurrent) in response to temperatures exceeding a threshold. Furthermore,it should be understood that electrode surfaces (50, 52) may be used assensors (e.g., to sense tissue impedance, etc.). Various kinds ofsensors that may be incorporated into electrosurgical instrument (10)will be apparent to those of ordinary skill in the art in view of theteachings herein. Similarly various things that can be done with datafrom sensors, by controller (82) or otherwise, will be apparent to thoseof ordinary skill in the art in view of the teachings herein. Othersuitable variations for end effector (40) will also be apparent to thoseof ordinary skill in the art in view of the teachings herein.

C. Exemplary Firing Beam

As also seen in FIGS. 2-4, electrosurgical instrument (10) of thepresent example includes a firing beam (60) that is longitudinallymovable along part of the length of end effector (40). Firing beam (60)is coaxially positioned within shaft (30), extends along the length ofshaft (30), and translates longitudinally within shaft (30) (includingarticulation section (36) in the present example), though it should beunderstood that firing beam (60) and shaft (30) may have any othersuitable relationship. In some versions, a proximal end of firing beam(60) is secured to a firing tube or other structure within shaft (30);and the firing tube or other structure extends through the remainder ofshaft (30) to handpiece (20) where it is driven by movement of trigger(24). Firing beam (60) includes a sharp distal blade (64), an upperflange (62), and a lower flange (66). As best seen in FIG. 4, distalblade (64) extends through slots (46, 48) of jaws (42, 44), with upperflange (62) being located above jaw (44) in recess (59) and lower flange(66) being located below jaw (42) in recess (58). The configuration ofdistal blade (64) and flanges (62, 66) provides an “I-beam” type ofcross section at the distal end of firing beam (60). While flanges (62,66) extend longitudinally only along a small portion of the length offiring beam (60) in the present example, it should be understood thatflanges (62, 66) may extend longitudinally along any suitable length offiring beam (60). In addition, while flanges (62, 66) are positionedalong the exterior of jaws (42, 44), flanges (62, 66) may alternativelybe disposed in corresponding slots formed within jaws (42, 44). Forinstance, each jaw (42, 44) may define a “T”-shaped slot, with parts ofdistal blade (64) being disposed in one vertical portion of each“T”-shaped slot and with flanges (62, 66) being disposed in thehorizontal portions of the “T”-shaped slots. Various other suitableconfigurations and relationships will be apparent to those of ordinaryskill in the art in view of the teachings herein.

Distal blade (64) is substantially sharp, such that distal blade (64)will readily sever tissue that is captured between jaws (42, 44). Distalblade (64) is also electrically grounded in the present example,providing a return path for RF energy as described elsewhere herein. Insome other versions, distal blade (64) serves as an active electrode.

The “I-beam” type of configuration of firing beam (60) provides closureof jaws (42, 44) as firing beam (60) is advanced distally. Inparticular, flange (62) urges jaw (44) pivotally toward jaw (42) asfiring beam (60) is advanced from a proximal position (FIGS. 1-3) to adistal position (FIG. 4), by bearing against recess (59) formed in jaw(44). This closing effect on jaws (42, 44) by firing beam (60) may occurbefore distal blade (64) reaches tissue captured between jaws (42, 44).Such staging of encounters by firing beam (60) may reduce the forcerequired to squeeze trigger (24) to actuate firing beam (60) through afull firing stroke. In other words, in some such versions, firing beam(60) may have already overcome an initial resistance required tosubstantially close jaws (42, 44) on tissue before encounteringresistance from severing the tissue captured between jaws (42, 44). Ofcourse, any other suitable staging may be provided.

In the present example, flange (62) is configured to cam against a rampfeature at the proximal end of jaw (44) to open jaw (44) when firingbeam (60) is retracted to a proximal position and to hold jaw (44) openwhen firing beam (60) remains at the proximal position. This cammingcapability may facilitate use of end effector (40) to separate layers oftissue, to perform blunt dissections, etc., by forcing jaws (42, 44)apart from a closed position. In some other versions, jaws (42, 44) areresiliently biased to an open position by a spring or other type ofresilient feature. While jaws (42, 44) close or open as firing beam (60)is translated in the present example, it should be understood that otherversions may provide independent movement of jaws (42, 44) and firingbeam (60). By way of example only, one or more cables, rods, beams, orother features may extend through shaft (30) to selectively actuate jaws(42, 44) independently of firing beam (60). Such jaw (42, 44) actuationfeatures may be separately controlled by a dedicated feature ofhandpiece (20). Alternatively, such jaw actuation features may becontrolled by trigger (24) in addition to having trigger (24) controlfiring beam (60). It should also be understood that firing beam (60) maybe resiliently biased to a proximal position, such that firing beam (60)retracts proximally when a user relaxes their grip on trigger (24).

FIG. 5 shows an exemplary alternative firing beam (70), which may bereadily substituted for firing beam (60). In this example, firing beam(70) comprises a blade insert (94) that is interposed between two beamplates (90, 92). Blade insert (94) includes a sharp distal edge (96),such that blade insert (94) will readily sever tissue that is capturedbetween jaws (42, 44). Sharp distal edge (96) is exposed by a proximallyextending recess (93) formed in plates (90, 92). A set of pins (72, 74,76) are transversely disposed in plates (90, 92). Pins (72, 74) togethereffectively serve as substitutes for upper flange (62); while pin (76)effectively serves as a substitute for lower flange (66). Thus, pins(72, 74) bear against channel (59) of jaw (44), and pin (76) bearsagainst channel (58) of jaw (42), as firing beam (70) is translateddistally through slots (46, 48). Pins (72, 74, 76) of the presentexample are further configured to rotate within plates (90, 92), aboutthe axes respectively defined by pins (72, 74, 76). It should beunderstood that such rotatability of pins (72, 74, 76) may providereduced friction with jaws (42, 44), thereby reducing the force requiredto translate firing beam (70) distally and proximally in jaws (42, 44).Pin (72) is disposed in an angled elongate slot (98) formed throughplates (90, 92), such that pin (72) is translatable along slot (98). Inparticular, pin (72) is disposed in the proximal portion of slot (98) asfiring beam (70) is being translated distally. When firing beam (70) istranslated proximally, pin (72) slides distally and upwardly in slot(98), increasing the vertical separation between pins (72, 76), which inturn reduces the compressive forces applied by jaws (42, 44) and therebyreduces the force required to retract firing beam (70). Pins (72, 74,76) may be pinged, upended, or otherwise configured to provide furtherretention in the body of firing beam (70). Of course, firing beam (70)may have any other suitable configuration. By way of example only,firing beam (70) may be configured in accordance with at least some ofthe teachings of U.S. Pub. No. 2012/0083783, issued U.S. Pat. No.8,888,809, the disclosure of which is incorporated by reference herein.

D. Exemplary Operation

In an exemplary use, end effector (40) is inserted into a patient via atrocar. Articulation section (36) is substantially straight when endeffector (40) and part of shaft (30) are inserted through the trocar.Articulation control (28) may then be manipulated to pivot or flexarticulation section (36) of shaft (30) in order to position endeffector (40) at a desired position and orientation relative to ananatomical structure within the patient. Two layers of tissue of theanatomical structure are then captured between jaws (42, 44) bysqueezing trigger (24) toward pistol grip (22). Such layers of tissuemay be part of the same natural lumen defining anatomical structure(e.g., blood vessel, portion of gastrointestinal tract, portion ofreproductive system, etc.) in a patient. For instance, one tissue layermay comprise the top portion of a blood vessel while the other tissuelayer may comprise the bottom portion of the blood vessel, along thesame region of length of the blood vessel (e.g., such that the fluidpath through the blood vessel before use of electrosurgical instrument(10) is perpendicular to the longitudinal axis defined by end effector(40), etc.). In other words, the lengths of jaws (42, 44) may beoriented perpendicular to (or at least generally transverse to) thelength of the blood vessel. As noted above, flanges (62, 66) camminglyact to pivot jaw (44) toward jaw (42) when firing beam (60) is actuateddistally by squeezing trigger (24) toward pistol grip (22). Jaws (42,44) may be substantially clamping tissue before trigger (24) has sweptthrough a full range of motion toward pistol grip (22), such thattrigger (24) may continue pivoting toward pistol grip (22) through asubsequent range of motion after jaws (42, 44) have substantiallyclamped on the tissue.

With tissue layers captured between jaws (42, 44) firing beam (60)continues to advance distally by the user squeezing trigger (24) furthertoward pistol grip (22). As firing beam (60) continues to advancedistally, distal blade (64) simultaneously severs the clamped tissuelayers, resulting in separated upper layer portions being apposed withrespective separated lower layer portions. In some versions, thisresults in a blood vessel being cut in a direction that is generallytransverse to the length of the blood vessel. It should be understoodthat the presence of flanges (62, 66) immediately above and below jaws(42, 44), respectively, help keep jaws (42, 44) in a closed and tightlyclamping position. In particular, flanges (62, 66) help maintain asignificantly compressive force between jaws (42, 44). With severedtissue layer portions being compressed between jaws (42, 44), bipolar RFenergy is applied to the tissue through electrode surfaces (50, 52) bythe user depressing activation button (26). Thus, a bipolar RF currentflows through the compressed regions of severed tissue layer portions.The bipolar RF energy delivered by power source (80) ultimatelythermally welds the tissue layer portions on one side of firing beam(60) together and the tissue layer portions on the other side of firingbeam (60) together.

In certain circumstances, the heat generated by activated electrodesurfaces (50, 52) can denature the collagen within the tissue layerportions and, in cooperation with clamping pressure provided by jaws(42, 44), the denatured collagen can form a seal within the tissue layerportions. Thus, the severed ends of the natural lumen defininganatomical structure are hemostatically sealed shut, such that thesevered ends will not leak bodily fluids. In some versions, electrodesurfaces (50, 52) may be activated with bipolar RF energy before firingbeam (60) even begins to translate distally and thus before the tissueis even severed. For instance, such timing may be provided in versionswhere button (26) serves as a mechanical lockout relative to trigger(24) in addition to serving as a switch between power source (80) andelectrode surfaces (50, 52). Other suitable ways in which instrument(10) may be operable and operated will be apparent to those of ordinaryskill in the art in view of the teachings herein.

II. Exemplary Motor Driven Electrosurgical Instrument

FIG. 6 shows an exemplary electrosurgical instrument (200) that is avariation of instrument (10) discussed above. Electrosurgical instrument(200) of the present example is configured to operate substantiallysimilar to instrument (10) as discussed above except for the differencesdiscussed below. Instrument (200) of the present example includes ahandpiece (220), a shaft (230) extending distally from handpiece (220),and an end effector (240) (shown in FIGS. 11-12) disposed at a distalend of shaft (230). Handpiece (220) of the present example includes apistol grip (222). End effector (240) of the present example comprises afirst jaw (242) and a second jaw (244). In the present example, firstjaw (242) is substantially fixed relative to shaft (230); while secondjaw (244) pivots relative to shaft (230), toward and away from first jaw(242). Instrument (200) further includes a modular motor assembly (100)configured to drive pivotal movement of second jaw (244) andlongitudinal movement of a firing beam (not shown), which issubstantially identical to firing beam (60) as discussed above withreference to instrument (10). Modular motor assembly (100) is configuredto be removable from instrument (200) and may be further configured tobe sterilized and reused.

As shown in FIGS. 9-10, modular motor assembly (100) comprises a body(120), a base (110), a drive gear (140), and a pair of pogo pins (130).Pogo pins (130) deliver electrical power to a motor (132) housed withinbody (120). Pogo pins (130) engage a plurality of wires (285) inhandpiece (220). Wires (285) are associated with a cable (284) which iscoupled with an external electrical source such as electrical source(80). Motor (132) drives rotation of drive gear (140). Drive gear (140)presents a plurality of teeth (142) disposed annularly about an exteriorof drive gear (140). Plurality of teeth (142) may be tapered (e.g.,similar to a bevel gear). As shown in FIGS. 7-8, modular motor assembly(100) is inserted into pistol grip (222) of handpiece (220) ofinstrument (200). Among other methods, modular motor assembly (100) maybe secured within pistol grip (222) by latching members, clamps, clips,screw-down members, etc. When modular motor assembly (100) is insertedinto pistol grip (222) of handpiece (220), plurality of teeth (142) ofdrive gear (140) engages a plurality of teeth (251) of a rack (250). Asshown in FIGS. 6-7, rack (250) of the present example has an arcuateshape. Handpiece (220) of instrument (200) presents an arcuate channel(not shown) within which rack (250) is slidably disposed. Rack (250) isconfigured to move within the arcuate channel. Therefore it should beunderstood that rotation of drive gear (140) will drive movement of rack(250) within the arcuate channel of handpiece (220).

Although modular motor assembly (100) of the present example receivespower from an external electrical source, it should be understood thatmodular motor assembly (100) may receive power from other sources. Forinstance, a battery (134) may provide power to modular motor assembly(100) alternatively or in lieu of power from an external electricalsource. Among other places, battery (134) may be housed in body (120) ofmodular motor assembly (100) or within handpiece (220). It should beunderstood that battery (134) may be rechargeable and that power may beprovided to and/or from the rechargeable battery via pogo pins (130)among other methods. Also, modular motor assembly (100) may comprise agenerator (not shown). Such a generator may be configured to operatesubstantially similar to electrical source (80) and/or controller (82)as discussed above with reference to instrument (10). For instance, thegenerator may be capable of generating power for motor (132) of modularmotor assembly (100) and/or other components of instrument (200)including RF energy for a pair of electrodes (not shown) in jaws (242,244).

As shown in FIGS. 11-12, rack (250) presents a first pin (252)positioned at a distal end of rack (250). A first link member (260) ispivotably coupled to first pin (252) at a first end (261) of firstmember (260) such that first member (260) is rotatable about a firstaxis (A1) defined by first pin (252). First member (260) is furtherpivotably coupled to a second pin (223) at a second end (262) of firstmember (260) such that first member (260) rotates about a second axis(A2) defined by second pin (223). First end (261) of first member (260)and second end (262) of second member (260) are disposed at oppositeends of first member (260). Second pin (223) is supported by an internalportion of handpiece (220). It should be understood that movement ofrack (250) within the arcuate channel of handpiece (220) will causearcuate movement of first end (261) of first member (260), rotation offirst member (260) about first pin (252), and rotation of first member(260) about second pin (223).

As also shown in FIGS. 11-12, first member (260) presents a third pin(263) positioned between first end (261) and second end (262) of firstmember (260). A second member (260) is slidably and rotatably coupled tothird pin (263) at a first end (271) of second member (270) such thatsecond member (270) is rotatable about a third axis (A3) defined bythird pin (263). Second member (270) comprises a first plate (272) and asecond plate (273). Second member (270) is further rotatably coupled toa fourth pin (224) at a mid-section (274) of second member (270) suchthat second member (270) rotates about a fourth axis (A4) defined byfourth pin (224). Fourth pin (224) is supported by an internal portionof handpiece (220). It should be understood that arcuate movement offirst end (261) of first member (260) will cause arcuate movement offirst end (271) of second member (270), rotation of second member (260)about third pin (263), and rotation of second member (260) about fourthpin (224). Because first member (260) and second member (270) havedifferent fixed axes of rotation (A2, A4) it should also be appreciatedthat arcuate movement of first end (261) of first member (260) willcause longitudinal translation of third pin (263) within a pair of slots(275, 276) defined in first plate (272) and second plate (273) of secondmember (270) as well.

Second member (270) presents a second end (277). Second end (277) ofsecond member (270) and first end (271) of second member (270) aredisposed at opposite ends of second member (270). Mid-section (274) ofsecond member (270) is disposed between second end (277) of secondmember (270) and first end (271) of second member (270). Therefore, itshould be understood that arcuate movement of first end (271) of secondmember (270) will cause rotation of second member (260) about fourth pin(224) and thus arcuate movement of second end (277) of second member(270). Second end (277) of second member (270) engages a drive block(280). Drive block (280) is fixedly secured to a firing tube (282) whichis longitudinally disposed relative to shaft (230). Firing tube (282) iscoupled with a firing beam (not shown). Firing tube (282) is configuredto translate longitudinally within shaft (230) to drive movement of thefiring beam. The firing beam of the present example is configured tooperate substantially similar to firing beam (60) as discussed abovewith reference to instrument (10). Therefore, it should be understoodthat arcuate movement of second end (277) of second member (270) willcause longitudinal movement of firing tube (282) and consequentlylongitudinal movement of the firing beam. As discussed above withreference to firing beam (60), longitudinal translation of the firingbeam will drive closure of jaws (242, 244) as well as translation of adistal end of the firing beam having a blade insert (not shown),ultimately severing tissue clamped between jaws (242, 244).

In summation, it should now be understood that rotation of drive gear(140) will cause arcuate movement of rack (250) within the arcuatechannel of handpiece (220). Arcuate movement of rack (250) will causearcuate movement of first end (261) of first member (260) which will inturn cause arcuate movement of first end (271) of second member (270).Arcuate movement of first end (271) of second member (270) will causearcuate movement of second end (277) of second member (270) which willin turn cause longitudinal movement of firing tube (282) andconsequently longitudinal movement of the firing beam. Longitudinalmovement of the firing beam will drive closure of jaws (242, 244) aswell as translation of the distal end of the firing beam, as shown inthe transition from FIG. 11 to FIG. 12.

It should also be understood that motor (132) may be selectivelyactivated by various user input features. By way of example only,handpiece (220) may include a button, rocker, and/or other feature thatis operable to selectively activate motor (132). As another merelyillustrative example, handpiece (220) may include a pivoting trigger,similar to trigger (24), that closes a switch to activate motor (132)when the trigger is pivoted toward pistol grip (222). Other suitablefeatures that may be provided to selectively activate motor (132) willbe apparent to those of ordinary skill in the art in view of theteachings herein. It should also be understood that the user input thatis operable to selectively activate motor (132) may communicate with acontrol logic (e.g., in a microprocessor, ASIC, etc.) that is also incommunication with button (26). For instance, such a control logic mayrender the user input that is operable to selectively activate motor(132) wholly or partly inoperable until the control logic detectssimultaneous activation of button (26). This may ensure that tissuecaptured between jaws (242, 244) is not severed by firing beam (60)until RF energy is first being delivered (and/or has been delivered) tothe tissue.

Although instrument (200) of the present example does not comprise atrigger that mechanically drives a firing beam, it should be understoodthat such a trigger may be included. For instance, a trigger may becoupled with rack (250) such that the trigger (alternatively or in lieuof the modular motor assembly) would be capable of causing arcuatemovement of rack (250) and thus driving closure of jaws (242, 244) aswell as translation of the distal end of the firing beam. In otherwords, a trigger may serve as a readily available manual alternative tomotor (132). Also, although modular motor assembly (100) of the presentexample is configured to drive closure of jaws (242, 244) as well astranslation of the distal end of the firing beam, modular motor assembly(100) may further be configured to drive articulation of an articulationsection (236) of shaft (230) and/or rotation of shaft (230).

III. Miscellaneous

It should be understood that any of the versions of electrosurgicalinstrument (10) described herein may include various other features inaddition to or in lieu of those described above. By way of example only,any of the devices herein may also include one or more of the variousfeatures disclosed in any of the various references that areincorporated by reference herein.

It should also be understood that any of the devices described hereinmay be modified to include a motor or other electrically powered deviceto drive an otherwise manually moved component. Various examples of suchmodifications are described in U.S. Pub. No. 2012/0116379, entitled“Motor Driven Electrosurgical Device with Mechanical and ElectricalFeedback,” published May 10, 2012, issued Oct. 20, 2015 as U.S. Pat. No.9,161,83, the disclosure of which is incorporated by reference herein.Various other suitable ways in which a motor or other electricallypowered device may be incorporated into any of the devices herein willbe apparent to those of ordinary skill in the art in view of theteachings herein.

It should also be understood that any of the devices described hereinmay be modified to contain most, if not all, of the required componentswithin the medical device itself. More specifically, the devicesdescribed herein may be adapted to use an internal or attachable powersource instead of requiring the device to be plugged into an externalpower source by a cable. Various examples of how medical devices may beadapted to include a portable power source are disclosed in U.S.Provisional Application Ser. No. 61/410,603, filed Nov. 5, 2010,entitled “Energy-Based Surgical Instruments,” the disclosure of which isincorporated by reference herein. Various other suitable ways in which apower source may be incorporated into any of the devices herein will beapparent to those of ordinary skill in the art in view of the teachingsherein.

While the examples herein are described mainly in the context ofelectrosurgical instruments, it should be understood that variousteachings herein may be readily applied to a variety of other types ofdevices. By way of example only, the various teachings herein may bereadily applied to other types of electrosurgical instruments, tissuegraspers, tissue retrieval pouch deploying instruments, surgicalstaplers, surgical clip appliers, ultrasonic surgical instruments, etc.It should also be understood that the teachings herein may be readilyapplied to any of the instruments described in any of the referencescited herein, such that the teachings herein may be readily combinedwith the teachings of any of the references cited herein in numerousways. Other types of instruments into which the teachings herein may beincorporated will be apparent to those of ordinary skill in the art.

In versions where the teachings herein are applied to a surgicalstapling instrument, it should be understood that the teachings hereinmay be combined with the teachings of one or more of the following, thedisclosures of all of which are incorporated by reference herein: U.S.Pat. No. 4,805,823, entitled “Pocket Configuration for Internal OrganStaplers,” issued Feb. 21, 1989; U.S. Pat. No. 5,415,334, entitled“Surgical Stapler and Staple Cartridge,” issued May 16, 1995; U.S. Pat.No. 5,465,895, entitled “Surgical Stapler Instrument,” issued Nov. 14,1995; U.S. Pat. No. 5,597,107, entitled “Surgical Stapler Instrument,”issued Jan. 28, 1997; U.S. Pat. No. 5,632,432, entitled “SurgicalInstrument,” issued May 27, 1997; U.S. Pat. No. 5,673,840, entitled“Surgical Instrument,” issued Oct. 7, 1997; U.S. Pat. No. 5,704,534,entitled “Articulation Assembly for Surgical Instruments,” issued Jan.6, 1998; U.S. Pat. No. 5,814,055, entitled “Surgical ClampingMechanism,” issued Sep. 29, 1998; U.S. Pat. No. 6,978,921, entitled“Surgical Stapling Instrument Incorporating an E-Beam Firing Mechanism,”issued Dec. 27, 2005; U.S. Pat. No. 7,000,818, entitled “SurgicalStapling Instrument Having Separate Distinct Closing and FiringSystems,” issued Feb. 21, 2006; U.S. Pat. No. 7,143,923, entitled“Surgical Stapling Instrument Having a Firing Lockout for an UnclosedAnvil,” issued Dec. 5, 2006; U.S. Pat. No. 7,303,108, entitled “SurgicalStapling Instrument Incorporating a Multi-Stroke Firing Mechanism with aFlexible Rack,” issued Dec. 4, 2007; U.S. Pat. No. 7,367,485, entitled“Surgical Stapling Instrument Incorporating a Multistroke FiringMechanism Having a Rotary Transmission,” issued May 6, 2008; U.S. Pat.No. 7,380,695, entitled “Surgical Stapling Instrument Having a SingleLockout Mechanism for Prevention of Firing,” issued Jun. 3, 2008; U.S.Pat. No. 7,380,696, entitled “Articulating Surgical Stapling InstrumentIncorporating a Two-Piece E-Beam Firing Mechanism,” issued Jun. 3, 2008;U.S. Pat. No. 7,404,508, entitled “Surgical Stapling and CuttingDevice,” issued Jul. 29, 2008; U.S. Pat. No. 7,434,715, entitled“Surgical Stapling Instrument Having Multistroke Firing with OpeningLockout,” issued Oct. 14, 2008; U.S. Pat. No. 7,721,930, entitled“Disposable Cartridge with Adhesive for Use with a Stapling Device,”issued May 25, 2010; U.S. Pub. No. 2010/0264193, entitled “SurgicalStapling Instrument with An Articulatable End Effector,” published Oct.21, 2010; and issued Apr. 2, 2013 as U.S. Pat. No. 8,408,439; and U.S.Pub. No. 2012/0239012, entitled “Motor-Driven Surgical CuttingInstrument with Electric Actuator Directional Control Assembly,”published Sep. 20, 2012, and issued Jun. 4, 2013 as U.S. Pat. No.8,453,914. Other suitable ways in which the teachings herein may beapplied to a surgical stapling instrument will be apparent to those ofordinary skill in the art in view of the teachings herein.

In versions where the teachings herein are applied to an ultrasonicsurgical instrument, it should be understood that some such instrumentsmay lack a translating firing beam. The components described herein fortranslating a firing beam may instead simply translate a jaw closingmember. Alternatively, such translating features may simply be omitted.In any case, it should be understood that the teachings herein may becombined with the teachings of one or more of the following: U.S. Pat.Pub. No. 2006/0079874, entitled “Tissue Pad for Use with an UltrasonicSurgical Instrument,” published Apr. 13, 2006, the disclosure of whichis incorporated by reference herein; U.S. Pat. Pub. No. 2007/0191713,entitled “Ultrasonic Device for Cutting and Coagulating,” published Aug.16, 2007, the disclosure of which is incorporated by reference herein;U.S. Pat. Pub. No. 2007/0282333, entitled “Ultrasonic Waveguide andBlade,” published Dec. 6, 2007, the disclosure of which is incorporatedby reference herein; U.S. Pat. Pub. No. 2008/0200940, entitled“Ultrasonic Device for Cutting and Coagulating,” published Aug. 21,2008, the disclosure of which is incorporated by reference herein; U.S.Pat. Pub. No. 2011/0015660, entitled “Rotating Transducer Mount forUltrasonic Surgical Instruments,” published Jan. 20, 2011, and issuedJun. 11, 11, 2013 as U.S. Pat. No. 8,461,744, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 6,500,176, entitled“Electrosurgical Systems and Techniques for Sealing Tissue,” issued Dec.31, 2002, the disclosure of which is incorporated by reference herein;U.S. Pat. Pub. No. 2011/0087218, entitled “Surgical InstrumentComprising First and Second Drive Systems Actuatable by a Common TriggerMechanism,” published Apr. 14, 2011, issued Jan. 27, 2015 as U.S. Pat.No. 8,939,974, the disclosure of which is incorporated by referenceherein; and/or U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Toolwith Ultrasound Cauterizing and Cutting Instrument, ” issued Aug. 31,2004, the disclosure of which is incorporated by reference herein. Othersuitable ways in which the teachings herein may be applied to anultrasonic surgical instrument will be apparent to those of ordinaryskill in the art in view of the teachings herein.

It should be understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Theabove-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument,” published Aug. 31, 2004,the disclosure of which is incorporated by reference herein.

Versions described above may be designed to be disposed of after asingle use, or they can be designed to be used multiple times. Versionsmay, in either or both cases, be reconditioned for reuse after at leastone use. Reconditioning may include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, someversions of the device may be disassembled, and any number of theparticular pieces or parts of the device may be selectively replaced orremoved in any combination. Upon cleaning and/or replacement ofparticular parts, some versions of the device may be reassembled forsubsequent use either at a reconditioning facility, or by a userimmediately prior to a procedure. Those skilled in the art willappreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

We claim:
 1. An apparatus for operating on tissue, the apparatuscomprising: (a) a handpiece, wherein the handpiece presents a hollowinterior and an opening; (b) an elongate shaft, wherein the elongateshaft extends distally from the handpiece, and wherein the elongateshaft comprises a distal end; (c) an end effector, wherein the endeffector is disposed at the distal end of the elongate shaft, whereinthe end effector comprises a first jaw and a second jaw, and wherein thefirst jaw is selectively pivotable toward and away from the second jaw;(d) a motor assembly, wherein the motor assembly comprises: i. a motor,and ii. a drive gear, wherein the drive gear presents a first pluralityof teeth, and wherein the motor is operable to drive rotation of thedrive gear; and (e) a first member, wherein the first member comprises afirst end and a second end, wherein the first member is rotatable abouta first axis located between the first end and the second end, whereinthe first axis extends transversely relative to the first member,wherein the first end of the first member is associated with the drivegear, wherein the drive gear is rotatable about an axis that istransverse to the first axis to cause rotation of the first member aboutthe first axis; (f) a firing beam, wherein the second end of the firstmember is associated with the firing beam; and (g) a rack, wherein therack is proximally movable to cause pivoting of the first member in afirst direction, thereby causing distal translation of the firing beamrelative to the elongate shaft, wherein the rack is distally movable tocause pivoting of the first member in a second direction, therebycausing proximal translation of the firing beam relative to the elongateshaft.
 2. The apparatus of claim 1, wherein the firing beam isconfigured to drive the first jaw toward and away from the second jaw.3. The apparatus of claim 1, wherein the firing beam comprises a distalend, and wherein the firing beam further comprises a blade positioned atthe distal end of the firing beam.
 4. The apparatus of claim 1, whereinthe handpiece presents a channel, and wherein the rack presents a secondplurality of teeth, wherein the first plurality of teeth of the drivegear engages the second plurality of teeth of the rack, wherein the rackis movable within the channel presented by the handpiece, wherein thedrive gear is rotatable to cause movement of the rack within the channelwherein the first member is associated with the rack, wherein the rackis movable to cause rotation of the first member about the first axis.5. The apparatus of claim 4, wherein the rack has an arcuate shape. 6.The apparatus of claim 4, wherein the apparatus further comprises asecond member, wherein the second member is rotatably coupled to thefirst member, wherein the second member is rotatable about a secondaxis, and wherein the rack is configured to cause rotation of the secondmember about the second axis.
 7. The apparatus of claim 6, wherein thesecond member is operable to cause longitudinal translation of thefiring beam relative to the elongate shaft upon rotation of the secondmember about the second axis.
 8. The apparatus of claim 6, wherein theapparatus further comprises a drive block, wherein the drive blockengages one or both of the first member or the second member, whereinthe drive block is coupled to a firing tube, and wherein one or both ofthe first member or the second member is configured to causelongitudinal translation of the firing tube relative to the elongateshaft upon rotation of one or both of the first member or the secondmember about the respective first and second axes.
 9. The apparatus ofclaim 8, wherein the firing tube is operable to drive the firing beamrelative to the elongate shaft.
 10. The apparatus of claim 1, furthercomprising a battery, wherein the battery is operable to deliver powerto the motor.
 11. The apparatus of claim 10, wherein the battery isrechargeable.
 12. The apparatus of claim 1, wherein the first pluralityof teeth of the drive gear are tapered.
 13. The apparatus of claim 1,wherein the end effector comprises at least one electrode operable toapply radiofrequency (RF) energy to the tissue.
 14. The apparatus ofclaim 1, wherein the motor assembly further comprises a pair of pogopins, wherein the pair of pogo pins are operable to communicate power tothe motor from an external power supply.
 15. The apparatus of claim 1,wherein the handpiece comprises a pistol grip, and wherein the motor isdisposed within the pistol grip.
 16. An apparatus for operating ontissue, the apparatus comprising: (a) a handpiece, wherein the handpiecepresents a hollow interior; (b) an elongate shaft, wherein the elongateshaft extends distally from the handpiece, and wherein the elongateshaft comprises a distal end; (c) an end effector, wherein the endeffector is disposed at the distal end of the elongate shaft, whereinthe end effector comprises a first jaw and a second jaw, and wherein thefirst jaw is selectively pivotable toward and away from the second jaw;(d) a rack, wherein the rack is movable within the channel presented bythe handpiece; (e) a first rotatable member, wherein the first rotatablemember is rotatably coupled to the rack, wherein the first rotatablemember is further rotatably coupled to a first pin, and wherein the rackis movable to cause rotation of the first rotatable member about thefirst pin; (f) a reusable motor assembly, wherein the reusable motorassembly is configured to be inserted into the hollow interior of thehandpiece, and wherein the reusable motor assembly comprises: i. a body,ii. a motor, wherein the motor is disposed within the body, iii. a drivegear, wherein the drive gear is configured to engage the rack, whereinthe motor is operable to drive rotation of the drive gear, wherein thedrive gear is rotatable to cause movement of the first rotatable member,and iv. an integral power supply; and (g) a firing beam, wherein thedrive gear is rotatable to cause longitudinal translation of the firingbeam relative to the elongate shaft, wherein the firing beam istranslatable relative to the elongate shaft to cause movement of thefirst jaw toward and away from the second jaw.
 17. The apparatus ofclaim 16, wherein the power supply comprises a battery.
 18. Theapparatus of claim 17, wherein the battery is disposed within the bodyof the reusable motor assembly.
 19. An apparatus for operating ontissue, the apparatus comprising: (a) a handpiece, wherein the handpiecepresents a hollow interior; (b) an elongate shaft, wherein the elongateshaft extends distally from the handpiece, and wherein the elongateshaft comprises a distal end; (c) an end effector, wherein the endeffector is disposed at the distal end of the elongate shaft, whereinthe end effector comprises a first jaw and a second jaw, wherein thefirst jaw is selectively pivotable toward and away from the second jaw,and wherein the end effector comprises at least one electrode operableto apply RF energy to the tissue; (d) a motor assembly, wherein themotor assembly comprises: i. a motor, and ii. a drive gear, wherein themotor is operable to drive rotation of the drive gear, wherein the drivegear is rotatable to drive the first jaw toward and away from the secondjaw; (e) a rack, wherein the drive gear is configured to engage therack, wherein the rack is movable within the handpiece, wherein thedrive gear is rotatable to cause movement of the rack within thehandpiece when the drive gear is engaged with the rack; (f) a firstmember pivotable in response to movement of the rack; (g) a firing beam,wherein the rack is proximally movable to cause pivoting of the firstmember in a first direction, thereby causing distal translation of thefiring beam relative to the elongate shaft, wherein the rack is distallymovable to cause pivoting of the first member in a second direction,thereby causing proximal translation of the firing beam relative to theelongate shaft.